Prezentace 21, arduino auto.

2026-03-24 22:30:08 +01:00
parent 31376ba2d0
commit ab8f486f43
18 changed files with 638 additions and 0 deletions
@@ -0,0 +1,169 @@
+
+#include <Servo.h>
+#include <Servo.h>
+Servo myservo;
+int Echo_Pin=A0;  // ultrasonic module   ECHO to A0
+int Trig_Pin=A1;  // ultrasonic module  TRIG to A1
+#define Lpwm_pin  5     //pin of controlling speed---- ENA of motor driver board
+#define Rpwm_pin  6    //pin of controlling speed---- ENB of motor driver board
+int pinLB=2;             //pin of controlling turning---- IN1 of motor driver board
+int pinLF=4;             //pin of controlling turning---- IN2 of motor driver board
+int pinRB=7;            //pin of controlling turning---- IN3 of motor driver board
+int pinRF=8;            //pin of controlling turning---- IN4 of motor driver board
+volatile int D_mix;
+volatile int D_mid;
+volatile int D_max;
+volatile int Front_Distance;
+volatile int Left_Distance;
+volatile int Right_Distance;
+volatile int Right_IR_Value;
+volatile int Left_IR_Value;
+
+float checkdistance() {
+  digitalWrite(Trig_Pin, LOW);
+  delayMicroseconds(2);
+  digitalWrite(Trig_Pin, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(Trig_Pin, LOW);
+  float distance = pulseIn(Echo_Pin, HIGH) / 58.00;
+  delay(10);
+  return distance;
+}
+
+void Detect_Left_and_Right__distance() {
+  myservo.write(180);
+  delay(400);
+  Left_Distance = checkdistance();
+  delay(600);
+  Serial.print("Left_Distance:");
+  Serial.println(Left_Distance);
+  myservo.write(0);
+  delay(400);
+  Right_Distance = checkdistance();
+  delay(600);
+  Serial.print("Right_Distance:");
+  Serial.println(Right_Distance);
+  myservo.write(90);
+}
+
+void Ultrasonic_obstacle_avoidance()
+{
+  Front_Distance=checkdistance(); //obtain the value detected by ultrasonic sensor 
+  if((Front_Distance < 20)&&(Front_Distance > 0))//if the distance is greater than 0 and less than 20  
+{
+    stopp();//stop
+    delay(100);
+    myservo.write(180);
+    delay(500);
+    Left_Distance=checkdistance();//measure the distance
+    delay(100);
+    myservo.write(0);
+    delay(500);
+    Right_Distance=checkdistance();//measure the distance
+    delay(100);
+if(Left_Distance > Right_Distance)//if distance a1 is greater than a2
+    {
+      rotate_left(150);//turn left
+      myservo.write(90);
+      delay(300); 
+    }
+    else //if the right distance is greater than the left
+    {
+      rotate_right(150);// turn right
+      myservo.write(90);
+      delay(300); 
+    }
+  }
+  else//otherwise
+  {
+    go_forward(100);//go forward
+  }
+}
+
+
+
+
+
+
+void Obstacle_Avoidance_Main() 
+{
+  Ultrasonic_obstacle_avoidance();
+}
+
+
+
+void setup(){
+  myservo.attach(A2);
+  Serial.begin(9600);
+  D_mix = 10;
+  D_mid = 20;
+  D_max = 100;
+  Front_Distance = 0;
+  Left_Distance = 0;
+  Right_Distance = 0;
+  myservo.write(90);
+  pinMode(Echo_Pin, INPUT);      
+  pinMode(Trig_Pin, OUTPUT);    
+  pinMode(pinLB,OUTPUT); // /pin 2
+  pinMode(pinLF,OUTPUT); // pin 4
+  pinMode(pinRB,OUTPUT); // pin 7
+  pinMode(pinRF,OUTPUT);  // pin 8
+  pinMode(Lpwm_pin,OUTPUT);  // pin 5 (PWM) 
+  pinMode(Rpwm_pin,OUTPUT);  // pin 6(PWM)   
+}
+
+void loop(){
+  Obstacle_Avoidance_Main();
+
+}
+
+
+
+void go_forward(unsigned char speed_val)    // speed_val：0~255
+    {digitalWrite(pinRB,HIGH); 
+     digitalWrite(pinRF,LOW);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,LOW);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+     
+      
+    }
+
+void go_backward(unsigned char speed_val)    // speed_val：0~255
+    {
+     digitalWrite(pinRB,LOW);  
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,LOW);  
+     digitalWrite(pinLF,HIGH);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+    }
+    
+void rotate_left(unsigned char speed_val)        // speed_val：0~255
+    {digitalWrite(pinRB,HIGH);
+     digitalWrite(pinRF,LOW );  
+     digitalWrite(pinLB,LOW); 
+     digitalWrite(pinLF,HIGH);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+      
+     
+    }
+void rotate_right(unsigned char speed_val)    // speed_val：0~255
+    {
+      digitalWrite(pinRB,LOW);  
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,LOW);  
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+     
+    }    
+void stopp()        //stop
+    {
+     digitalWrite(pinRB,HIGH);
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,HIGH);
+    }
@@ -0,0 +1,23 @@
+
+#include <Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+// twelve servo objects can be created on most boards
+
+int pos = 0;    // variable to store the servo position
+
+void setup() {
+  myservo.attach(A2);  // attaches the servo on pin 9 to the servo object
+}
+
+void loop() {
+  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
+    // in steps of 1 degree
+    myservo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(15);                       // waits 15ms for the servo to reach the position
+  }
+  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
+    myservo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(15);                       // waits 15ms for the servo to reach the position
+  }
+}
@@ -0,0 +1,28 @@
+
+#define TRIG_PIN A1
+#define ECHO_PIN A0
+int Ult_distance=0;
+
+float checkdistance() {
+  digitalWrite(TRIG_PIN, LOW);
+  delayMicroseconds(2);
+  digitalWrite(TRIG_PIN, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(TRIG_PIN, LOW);
+  float distance = pulseIn(ECHO_PIN, HIGH) / 58.00;
+  delay(10);
+  return distance;
+}
+
+void setup(){
+  Serial.begin(9600);
+  pinMode(TRIG_PIN, OUTPUT);
+  pinMode(ECHO_PIN, INPUT);
+}
+void loop(){
+  Ult_distance = checkdistance();
+  Serial.print("Distance:");
+  Serial.print(Ult_distance);
+  Serial.println("CM");
+  delay(100);
+}
@@ -0,0 +1,15 @@
+#include <IRremote.h>
+ int RECV_PIN = 12;
+ IRrecv irrecv(RECV_PIN);
+ decode_results results;
+ void setup()
+{
+  Serial.begin(9600);
+  irrecv.enableIRIn(); // Start the receiver
+}
+ void loop() {
+  if (irrecv.decode(&results)) {
+    Serial.println(results.value, HEX);
+    irrecv.resume(); // Receive the next value
+  }
+}
@@ -0,0 +1,81 @@
+
+#define Lpwm_pin  5     //pin of controlling speed---- ENA of motor driver board
+#define Rpwm_pin  6    //pin of controlling speed---- ENB of motor driver board
+int pinLB=2;             //pin of controlling turning---- IN1 of motor driver board
+int pinLF=4;             //pin of controlling turning---- IN2 of motor driver board
+int pinRB=7;            //pin of controlling turning---- IN3 of motor driver board
+int pinRF=8;            //pin of controlling turning---- IN4 of motor driver board
+
+void setup()
+{
+  pinMode(pinLB,OUTPUT); // /pin 2
+  pinMode(pinLF,OUTPUT); // pin 4
+  pinMode(pinRB,OUTPUT); // pin 7
+  pinMode(pinRF,OUTPUT);  // pin 8
+  pinMode(Lpwm_pin,OUTPUT);  // pin 5 (PWM) 
+  pinMode(Rpwm_pin,OUTPUT);  // pin 6(PWM)   
+}
+
+
+void loop()
+{go_forward(100);
+ delay(2000);
+ go_backward(100);
+ delay(2000);
+ rotate_left(150);
+ delay(2000);
+ rotate_right(150);
+ delay(2000);
+ stopp();
+ delay(2000);
+ }
+
+
+void go_forward(unsigned char speed_val)    // speed_val：0~255
+    {digitalWrite(pinRB,HIGH); 
+     digitalWrite(pinRF,LOW);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,LOW);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+     
+      
+    }
+
+void go_backward(unsigned char speed_val)    // speed_val：0~255
+    {
+     digitalWrite(pinRB,LOW);  
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,LOW);  
+     digitalWrite(pinLF,HIGH);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+    }
+    
+void rotate_left(unsigned char speed_val)        // speed_val：0~255
+    {digitalWrite(pinRB,HIGH);
+     digitalWrite(pinRF,LOW );  
+     digitalWrite(pinLB,LOW); 
+     digitalWrite(pinLF,HIGH);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+      
+     
+    }
+void rotate_right(unsigned char speed_val)    // speed_val：0~255
+    {
+      digitalWrite(pinRB,LOW);  
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,LOW);  
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+     
+    }    
+void stopp()        //stop
+    {
+     digitalWrite(pinRB,HIGH);
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,HIGH);
+    }
@@ -0,0 +1,109 @@
+#include <IRremote.h>
+int RECV_PIN = 12;
+IRrecv irrecv(RECV_PIN);
+decode_results results;
+#define IR_Go      0x00ff629d
+#define IR_Back    0x00ffa857
+#define IR_Left    0x00ff22dd
+#define IR_Right   0x00ffc23d
+#define IR_Stop    0x00ff02fd
+#define IR_ESC     0x00ff52ad
+#define Lpwm_pin  5     //adjusting speed 
+#define Rpwm_pin  6    //adjusting speed //
+int pinLB=2;           // defining pin2 left rear
+int pinLF=4;           // defining pin4 left front
+int pinRB=7;           // defining pin7 right rear
+int pinRF=8;           // defining pin8 right front
+
+void go_forward(unsigned char speed_val)    // speed_val：0~255
+    {digitalWrite(pinRB,HIGH); 
+     digitalWrite(pinRF,LOW);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,LOW);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+     
+      
+    }
+
+void go_backward(unsigned char speed_val)    // speed_val：0~255
+    {
+     digitalWrite(pinRB,LOW);  
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,LOW);  
+     digitalWrite(pinLF,HIGH);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+    }
+    
+void rotate_left(unsigned char speed_val)        // speed_val：0~255
+    {digitalWrite(pinRB,HIGH);
+     digitalWrite(pinRF,LOW );  
+     digitalWrite(pinLB,LOW); 
+     digitalWrite(pinLF,HIGH);
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+      
+     
+    }
+void rotate_right(unsigned char speed_val)    // speed_val：0~255
+    {
+      digitalWrite(pinRB,LOW);  
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,LOW);  
+     analogWrite(Lpwm_pin,speed_val);
+     analogWrite(Rpwm_pin,speed_val);
+     
+    }    
+void stopp()        //stop
+    {
+     digitalWrite(pinRB,HIGH);
+     digitalWrite(pinRF,HIGH);
+     digitalWrite(pinLB,HIGH);
+     digitalWrite(pinLF,HIGH);
+    }
+         
+void IR_Control(void)
+{
+   unsigned long Key;
+   if(irrecv.decode(&results)) //judging if serial port receives data   
+ {
+     Key = results.value;
+    switch(Key)
+     {
+       case IR_Go:go_forward(150);   //UP
+       break;
+       case IR_Back:go_backward(150);   //back
+       break;
+       case IR_Left:rotate_left(100);   //Left    
+       break;
+       case IR_Right:rotate_right(100); //Righ
+       break;
+       case IR_Stop:stopp();   //stop
+       break;
+       default: 
+       break;      
+     } 
+     irrecv.resume(); // Receive the next value
+    } 
+  
+}
+void setup() 
+{ 
+   pinMode(pinLB,OUTPUT); // pin2
+   pinMode(pinLF,OUTPUT); // pin4
+   pinMode(pinRB,OUTPUT); // pin7 
+   pinMode(pinRF,OUTPUT); // pin8
+   pinMode(Lpwm_pin,OUTPUT); // pin5 (PWM) 
+   pinMode(Rpwm_pin,OUTPUT); // pin6 (PWM)   
+   irrecv.enableIRIn(); // Start the receiver
+   Serial.begin(9600);   //initializing serial port, Bluetooth used as serial port, setting baud ratio at 9600 
+   stopp();  
+}
+void loop() 
+{  
+   
+   IR_Control();
+    
+}